version: 66.08
glider: 141
mission: 15
dive: 232
start: 3 27 111 13 54 3
data:
$ID,141
$MISSION,15
$DIVE,232
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,50
$D_BOOST,3
$T_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,330
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-3
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51684
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,120
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-30903.277
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,110
$PITCH_MAX,3900
$C_PITCH,2864
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,2
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,256
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2490
$C_ROLL_CLIMB,2275
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,325
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,751
$VBD_MAX,4040
$C_VBD,3030
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-33.184971
$PRESSURE_SLOPE,0.0001160265
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,2
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,133
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042907749
$SEABIRD_T_H,0.0006300722
$SEABIRD_T_I,2.4342404e-05
$SEABIRD_T_J,2.663412e-06
$SEABIRD_C_G,-9.8752003
$SEABIRD_C_H,1.1299734
$SEABIRD_C_I,-0.00041852854
$SEABIRD_C_J,0.00012689357
$GPS1,270311,133555,6720.016,-5731.687,38,1.0,38,-38.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-48.2
$GPS2,270311,135332,6719.743,-5731.534,13,1.3,13,-38.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,172.7,44157,-17.5,-10.000
$D_GRID,448
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,208,0.00,0.00,-185.77,0.000,6,0.000,0.000,110,2494,3626,0,0,0,0,0,0
$GC,210,-0.62,-146.0,2.4,0.1,33,230,11.45,2.33,0.00,0.000,4,0.291,0.072,2654,3896,3627,0,0,0,0,0,0
$GC,484,-0.50,-146.0,23.2,-17.2,81,491,0.17,2.20,0.00,0.000,6,0.213,0.041,2697,2478,3629,0,0,0,0,0,0
$GC,829,-0.45,-146.0,70.8,-12.5,142,836,0.00,2.33,0.00,0.000,4,0.000,0.067,2696,3900,3628,0,0,0,0,0,0
$GC,944,-0.47,-146.0,84.6,-11.6,162,951,0.00,2.17,0.00,0.000,6,0.000,0.043,2697,2490,3628,0,0,0,0,0,0
$GC,1283,-0.47,-146.0,124.9,-11.7,205,1287,0.00,2.22,0.00,0.000,4,0.000,0.058,2697,1082,3627,0,0,0,0,0,0
$GC,1315,-0.47,-146.0,128.7,-11.4,207,1322,0.00,2.25,0.00,0.000,6,0.000,0.055,2697,2492,3627,0,0,0,0,0,0
$GC,1640,-0.47,-146.0,165.4,-11.2,238,1641,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2492,3626,0,0,0,0,0,0
$GC,1960,-0.47,-146.0,197.9,-9.5,268,1964,0.00,2.28,0.00,0.000,4,0.000,0.073,2697,3905,3625,0,0,0,0,0,0
$GC,1983,-0.50,-146.0,200.3,-9.8,269,1989,0.00,2.20,0.00,0.000,6,0.000,0.043,2697,2488,3625,0,0,0,0,0,0
$GC,2308,-0.52,-146.0,231.5,-9.8,300,2309,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2487,3625,0,0,0,0,0,0
$GC,2630,-0.55,-146.0,261.3,-9.3,330,2634,0.00,2.17,0.00,0.000,4,0.000,0.057,2697,1085,3626,0,0,0,0,0,0
$GC,2640,-0.57,-146.0,262.6,-9.1,330,2647,0.00,2.20,0.00,0.000,6,0.000,0.054,2697,2492,3626,0,0,0,0,0,0
$GC,2967,-0.61,-146.0,292.3,-9.6,361,2971,0.00,2.25,0.00,0.000,4,0.000,0.068,2696,3906,3627,0,0,0,0,0,0
$GC,2988,-0.66,-146.0,294.7,-9.6,362,2996,0.15,2.17,0.00,0.000,6,0.116,0.039,2645,2487,3627,0,0,0,0,0,0
$GC,3314,-0.56,-146.0,337.5,-13.1,393,3318,0.15,2.28,0.00,0.000,4,0.213,0.067,2680,3900,3628,0,0,0,0,0,0
$GC,3324,-0.48,-146.0,339.0,-12.8,393,3331,0.00,2.17,0.00,0.000,6,0.000,0.038,2680,2478,3628,0,0,0,0,0,0
$GC,3649,-0.48,-146.0,371.0,-9.5,424,3653,0.00,2.28,0.00,0.000,4,0.000,0.065,2680,3903,3629,0,0,0,0,0,0
$GC,3659,-0.48,-146.0,372.1,-9.7,424,3666,0.00,2.12,0.00,0.000,6,0.000,0.037,2680,2489,3629,0,0,0,0,0,0
$GC,3985,-0.48,-146.0,402.4,-9.3,455,3989,0.00,2.17,0.00,0.000,4,0.000,0.054,2680,1074,3630,0,0,0,0,0,0
$GC,4002,-0.48,-146.0,404.0,-9.5,456,4006,0.00,2.22,0.00,0.000,6,0.000,0.053,2680,2500,3630,0,0,0,0,0,0
$GC,4329,-0.48,-146.0,434.6,-9.3,486,4333,0.00,2.22,0.00,0.000,4,0.000,0.069,2680,3899,3630,0,0,0,0,0,0
$GC,4358,-0.50,-146.0,437.4,-9.5,488,4362,0.00,2.15,0.00,0.000,6,0.000,0.041,2680,2484,3630,0,0,0,0,0,0
$STATE,4474,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4474,begin apogee
$GC,4479,-0.12,0.0,448.6,9.1,499,4604,0.45,0.00,119.12,1.160,6,0.181,0.000,2813,2264,3030,0,0,0,0,0,0
$STATE,4605,end apogee,CONTROL_FINISHED_OK
$STATE,4605,begin climb
$GC,4607,0.62,146.0,452.5,0.0,510,4733,0.77,0.00,121.88,1.114,6,0.137,0.000,3053,2264,2434,0,0,0,0,0,0
$GC,5048,0.54,146.0,404.3,12.1,552,5052,0.00,2.38,0.00,0.000,4,0.000,0.060,3053,3696,2429,0,0,0,0,0,0
$GC,5132,0.43,146.0,392.4,14.4,559,5140,0.22,2.25,0.00,0.000,6,0.184,0.046,3006,2293,2428,0,0,0,0,0,0
$GC,5457,0.45,163.0,362.0,9.2,590,5481,0.00,2.35,14.80,0.995,4,0.000,0.060,3015,872,2364,0,0,0,0,0,0
$GC,5539,0.51,178.8,354.5,9.3,597,5562,0.00,2.25,14.85,0.990,6,0.000,0.047,3015,2277,2300,0,0,0,0,0,0
$GC,5880,0.58,205.1,323.6,8.8,629,5914,0.10,2.38,23.67,1.009,4,0.116,0.062,3063,3690,2192,0,0,0,0,0,0
$GC,6007,0.51,205.1,307.1,14.3,640,6012,0.15,2.25,0.00,0.000,6,0.190,0.045,3036,2270,2190,0,0,0,0,0,0
$GC,6332,0.51,205.1,271.8,10.5,670,6333,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2270,2188,0,0,0,0,0,0
$GC,6652,0.51,205.1,236.2,11.6,700,6653,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2270,2187,0,0,0,0,0,0
$GC,6971,0.51,205.1,199.8,11.3,730,6972,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2270,2187,0,0,0,0,0,0
$GC,7290,0.51,205.1,165.6,10.4,760,7296,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2270,2187,0,0,0,0,0,0
$GC,7617,0.58,225.7,133.5,9.0,791,7638,0.00,0.00,18.10,0.916,6,0.000,0.000,3036,2270,2109,0,0,0,0,0,0
$GC,7954,0.66,241.2,103.3,9.3,823,7978,0.12,2.33,14.50,0.882,4,0.101,0.060,3093,3674,2045,0,0,0,0,0,0
$GC,8013,0.59,241.2,95.4,16.1,830,8020,0.17,2.22,0.00,0.000,6,0.180,0.044,3058,2264,2044,0,0,0,0,0,0
$GC,8360,0.64,243.0,59.5,9.9,891,8366,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2264,2043,0,0,0,0,0,0
$GC,8704,0.69,251.1,26.9,9.6,952,8717,0.00,2.28,7.20,0.837,4,0.000,0.060,3066,868,2005,0,0,0,0,0,0
$GC,8789,0.80,272.7,19.9,9.0,966,8809,0.15,2.20,11.30,0.873,6,0.098,0.047,3127,2279,1917,0,0,0,0,0,0
$FREEZE,8.91,-1.544,-1.829,3,1,0
$FREEZE,8.14,-1.542,-1.828,3,1,0
$FREEZE,7.39,-1.542,-1.828,3,1,0
$FREEZE,6.68,-1.542,-1.827,3,1,0
$STATE,8884,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,8884,begin subsurface finish
$FINISH1,6.7,1.026753,37
$GC,8890,0.05,36.6,6.7,-14.5,982,8948,0.82,0.00,-51.60,0.000,6,0.184,0.000,2888,2281,2881,0,0,0,0,0,0
$FINISH2,3.3
$STATE,8949,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8949,begin surface
$RAFOS_CLK,420
$RAFOS,1,1301242141,16.166666,16.150278,63,56,55,52,48,48,216,167,135,232,199,88
$RAFOS,0,1301241667,16.033333,16.018612,57,56,56,54,51,51,164,185,195,219,117,140
$RAFOS_FIX,6718.050293,-5742.224609,270311,121200,2,133,0.09
$IRIDIUM_FIX,6652.93,-5726.60,270311,131305
$TT8_MAMPS,0.026964
$HUMID,45.27
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,17.8
$24V_AH,22.9,33.298
$10V_AH,10.2,18.290
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,14.900,67.575,345.425,0.000,0.000,50.300,37.335,629.040,1.000,0.000,15.873,2266.369,4596.680,555.387,2226.990,366.860,0.000,1395.999,0.000,1518.947,1080.000,7.921,0.000
$DEVICE_MAMPS,290.700,72.675,1159.740,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,695.647,747.088,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150296
$DATA_FILE_SIZE,40009,992
$CAP_FILE_SIZE,113093,0
$CFSIZE,260165632,236285952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1461.6
$GPS,270311,135332,6719.743,-5731.534,13,1.3,13,-38.1